\begin{figure*}[t!]
    \centering
    \includegraphics[width=1\linewidth]{imgs/fig2.png}
    \caption{Different integration quadratures: a) left Riemann quadrature, b) right Riemann quadrature, c) trapezoidal quadrature. Riemann
        qudratures are first-order methods, while the trapezoidal quadrature is a second-order method. The trapezoidal quadrature computes the
        integral more precisely than the Riemann quadratures with a fewer required number of points in the segment partition.
    }
    \label{fig:fig2}
    \vspace{-12pt}
\end{figure*}
